U.S. patent application number 17/225197 was filed with the patent office on 2021-10-14 for surgical robot and method for displaying image of patient placed on surgical table.
This patent application is currently assigned to KAWASAKI JUKOGYO KABUSHIKI KAISHA. The applicant listed for this patent is KAWASAKI JUKOGYO KABUSHIKI KAISHA, MEDICAROID CORPORATION. Invention is credited to Yuji KISHIDA, Takeshi KURIHARA, Tsuyoshi TOJO.
Application Number | 20210315647 17/225197 |
Document ID | / |
Family ID | 1000005521996 |
Filed Date | 2021-10-14 |
United States Patent
Application |
20210315647 |
Kind Code |
A1 |
TOJO; Tsuyoshi ; et
al. |
October 14, 2021 |
Surgical Robot and Method for Displaying Image of Patient Placed on
Surgical Table
Abstract
A surgical robot includes an arm base mover configured to move
an arm base configured to support a plurality of arms, an imaging
device provided on the arm base, the imaging device being
configured to image a patient placed on a surgical table, and a
display configured to display, in real time, the patient imaged by
the imaging device.
Inventors: |
TOJO; Tsuyoshi;
(Ibaraki-shi, JP) ; KISHIDA; Yuji; (Kobe-shi,
JP) ; KURIHARA; Takeshi; (Kobe-shi, JP) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
KAWASAKI JUKOGYO KABUSHIKI KAISHA
MEDICAROID CORPORATION |
Kobe-shi
Kobe-shi |
|
JP
JP |
|
|
Assignee: |
KAWASAKI JUKOGYO KABUSHIKI
KAISHA
Kobe-shi
JP
MEDICAROID CORPORATION
Kobe-shi
JP
|
Family ID: |
1000005521996 |
Appl. No.: |
17/225197 |
Filed: |
April 8, 2021 |
Current U.S.
Class: |
1/1 |
Current CPC
Class: |
A61B 34/30 20160201;
A61B 90/50 20160201; A61B 90/36 20160201; A61B 34/70 20160201; A61B
2034/742 20160201; A61B 2560/0437 20130101 |
International
Class: |
A61B 34/30 20060101
A61B034/30; A61B 90/50 20060101 A61B090/50; A61B 90/00 20060101
A61B090/00; A61B 34/00 20060101 A61B034/00 |
Foreign Application Data
Date |
Code |
Application Number |
Apr 9, 2020 |
JP |
2020-070407 |
Claims
1. A surgical robot comprising: a plurality of arms each configured
to allow a medical device to be attached thereto; an arm base
configured to support the plurality of arms; an arm base mover
configured to move the arm base; a medical cart configured to move
the arm base mover; an imaging device provided on the arm base, the
imaging device being configured to image a patient placed on a
surgical table; and a display configured to display, in real time,
the patient imaged by the imaging device.
2. The surgical robot according to claim 1, wherein the display is
configured to superimpose and display an image of the patient
captured by the imaging device and a mark used to align the arm
base with the patient.
3. The surgical robot according to claim 1, wherein the display is
configured to superimpose and display an image of a trocar captured
by the imaging device and a mark used to align the arm base with
the trocar, the trocar being configured to allow an endoscope to be
inserted from a body surface of the patient.
4. The surgical robot according to claim 3, wherein the plurality
of arms are aligned with a surgical location in the patient placed
on the surgical table by aligning the trocar displayed on the
display with the mark.
5. The surgical robot according to claim 3, wherein the trocar
includes a first trocar configured to allow the endoscope to be
inserted thereinto, and a second trocar configured to allow the
medical device other than the endoscope to be inserted thereinto;
and the mark displayed on the display includes a first mark used to
align with the first trocar on the display, and a second mark used
to align with the second trocar on the display.
6. The surgical robot according to claim 5, wherein the display
displays the first mark, which has a substantially circular shape,
on a substantially central portion of the display; and the second
mark has a cross shape centered on the first mark having the
substantially circular shape.
7. The surgical robot according to claim 6, wherein the second
trocar includes a plurality of second trocars provided on the body
surface of the patient; the display has a substantially rectangular
shape; and the second mark having the cross shape includes a
substantially linear first line provided along a longitudinal
direction of the display having the substantially rectangular
shape, and a substantially linear second line provided along a
transverse direction of the display having the substantially
rectangular shape.
8. The surgical robot according to claim 7, wherein the first line
and the second line displayed on the display are fixed on the
display.
9. The surgical robot according to claim 2, further comprising: a
magnification change button configured to enlarge or reduce an
image of the mark together with the image of the patient displayed
on the display.
10. The surgical robot according to claim 9, wherein the display
includes a touch panel; and the magnification change button is
configured to be displayed on the touch panel.
11. The surgical robot according to claim 1, wherein the arm base
mover is configured to move the arm base such that the imaging
device takes a posture to image a region vertically therebelow
based on an input of mode setting to align the arm base with the
patient.
12. The surgical robot according to claim 1, wherein the arm base
mover is configured to be controlled to move the arm base such that
an orientation of the arm base corresponds to an arrangement
direction of the plurality of arms determined based on an input of
information on a surgical site, an input of information on a
direction in which a medical manipulator is inserted into the
patient, and an input of mode setting to align the arm base with
the patient; and the display is configured to display an image
corrected to be rotated in a direction opposite to rotation of the
arm base when movement of the arm base includes horizontal rotation
of the arm base.
13. The surgical robot according to claim 1, further comprising: a
controller including an image processing circuit configured to
display an image obtained from the imaging device on the
display.
14. A surgical robot comprising: a plurality of arms each
configured to allow a medical device to be attached thereto; an arm
base configured to support the plurality of arms; an arm base mover
configured to move the arm base; a medical cart configured to move
the arm base mover; an imaging device provided on the arm base, the
imaging device being configured to image a patient placed on a
surgical table; a display configured to display, in real time, the
patient imaged by the imaging device; and a first operation unit
configured to operate movement of the arm base mover; wherein the
first operation unit is configured to be operated and to cause the
arm base mover to move the arm base on a two-dimensional plane.
15. The surgical robot according to claim 14, further comprising: a
first enable switch configured to allow or disallow the movement of
the arm base mover; wherein the first operation unit is configured
to be operated and to cause the arm base mover to move the arm base
while the first enable switch is pressed.
16. The surgical robot according to claim 14, wherein the first
operation unit includes a joystick.
17. The surgical robot according to claim 14, further comprising: a
second operation unit configured to operate movement of the medical
cart.
18. The surgical robot according to claim 17, wherein the second
operation unit includes a handle including a throttle configured to
be gripped and rotated by an operator to cause the medical cart to
move.
19. The surgical robot according to claim 17, further comprising: a
second enable switch configured to allow or disallow the movement
of the medical cart; wherein the second operation unit is
configured to be operated and to cause the medical cart to move
while the second enable switch is pressed.
20. A method for displaying, on a display of a surgical robot, an
image of a patient placed on a surgical table, the surgical robot
comprising a plurality of arms each configured to allow a medical
device to be attached thereto and an arm base configured to support
the plurality of arms, the method comprising: imaging a patient
placed on a surgical table by an imaging device provided on the arm
base; and displaying the patient imaged by the imaging device on
the display in real time.
Description
CROSS-REFERENCE TO RELATED APPLICATION
[0001] The priority application number JP2020-070407, Surgical
Robot and Method for Positioning Surgical Robot, Apr. 9, 2020,
Tsuyoshi Tojo, Yuji Kishida, and Takeshi Kurihara, upon which this
patent application is based, is hereby incorporated by
reference.
BACKGROUND OF THE INVENTION
Field of the Invention
[0002] The present disclosure relates to a surgical robot and a
method for displaying an image of a patient placed on a surgical
table.
Description of the Background Art
[0003] Conventionally, a surgical robot aligned with a patient is
known. Such a surgical robot is disclosed in Japanese Translation
of PCT International Application Publication No 2017-515522.
[0004] Japanese Translation of PCT International Application
Publication No 2017-515522 discloses a teleoperational assembly
(surgical robot) including a plurality of arms to which medical
instruments such as endoscopes are attached. The teleoperational
assembly includes a base and a telescoping support column attached
to the base. The telescoping support column is provided along a
vertical direction. Furthermore, a telescoping boom is provided so
as to extend in a horizontal direction from the telescoping support
column. The plurality of arms are attached to an orienting platform
provided at the tip end of the telescoping boom via a plurality of
support beams.
[0005] The teleoperational assembly disclosed in Japanese
Translation of PCT International Application Publication No
2017-515522 is configured to irradiate a patient (such as a patient
placed on a surgical table) with a reference laser beam from the
teleoperational assembly. An operator (such as a nurse or a
technician) who moves the teleoperational assembly moves the entire
teleoperational assembly according to a guided setup screen prompt
and a voice prompt as shown in FIG. 13 such that the plurality of
arms are placed along the reference laser beam directly radiated to
the patient. Thus, the operator is attempting to align the
teleoperational assembly with the patient.
[0006] However, in a case of the teleoperational assembly disclosed
in Japanese Translation of PCT International Application
Publication No 2017-515522, the touchpad only displays an image
related to the next operation procedure, and thus the operator
(such as a nurse or a technician) who moves the teleoperational
assembly cannot align the teleoperational assembly while checking
the patient's condition.
SUMMARY OF THE INVENTION
[0007] The present disclosure is intended to solve the above
problem. The present disclosure aims to provide a surgical robot
and a method for displaying an image of a patient placed on a
surgical table that each enable an operator who aligns the surgical
robot with the patient to align the surgical robot with the patient
while checking the patient's condition.
[0008] In order to attain the aforementioned object, a surgical
robot according to a first aspect of the present disclosure
includes a plurality of arms each configured to allow a medical
device to be attached thereto, an arm base configured to support
the plurality of arms, an arm base mover configured to move the arm
base, a medical cart configured to move the arm base mover, an
imaging device provided on the arm base, the imaging device being
configured to image a patient placed on a surgical table, and a
display configured to display, in real time, the patient imaged by
the imaging device.
[0009] In the surgical robot according to the first aspect of the
present disclosure, as described above, the patient imaged by the
imaging device is displayed on the display, and the arm base can be
aligned with a surgical location in the patient placed on the
surgical table on the display while the condition of the patient
displayed on the display is checked. Accordingly, an operator (such
as a nurse or a technician) can move the medical cart while
checking the condition of the patient displayed on the display.
[0010] A method for displaying, on a display of a surgical robot,
an image of a patient placed on a surgical table, the surgical
robot including a plurality of arms each configured to allow a
medical device to be attached thereto and an arm base configured to
support the plurality of arms, according to a second aspect of the
present disclosure includes imaging a patient placed on a surgical
table by an imaging device provided on the arm base, and displaying
the patient imaged by the imaging device on the display in real
time.
[0011] As described above, the method for displaying the image of
the patient placed on the surgical table according to the second
aspect of the present disclosure includes displaying the patient
imaged by the imaging device on the display in real time.
Accordingly, an operator (such as a nurse or a technician) can move
the medical cart so as to align a trocar displayed on the display
and a mark with each other while checking the condition of the
patient displayed on the display.
[0012] According to the present disclosure, as described above, the
operator can align the surgical robot with the patient while
checking the patient's condition.
[0013] The foregoing and other objects, features, aspects and
advantages of the present disclosure will become more apparent from
the following detailed description of the present disclosure when
taken in conjunction with the accompanying drawings.
BRIEF DESCRIPTION OF THE DRAWINGS
[0014] FIG. 1 is a diagram showing the configuration of a surgical
system according to an embodiment of the present disclosure.
[0015] FIG. 2 is a diagram showing the configuration of a medical
manipulator according to the embodiment of the present
disclosure.
[0016] FIG. 3 is a perspective view showing the configuration of a
medical cart according to the embodiment of the present
disclosure.
[0017] FIG. 4 is a diagram showing a state in which the medical
manipulator is moved (rolled in) with respect to a patient.
[0018] FIG. 5 is a diagram showing marks displayed on a
display.
[0019] FIG. 6 is a diagram showing trocars inserted into a
patient's body surface.
[0020] FIG. 7 is a diagram showing an endoscope.
[0021] FIG. 8 is a diagram showing the configuration of an arm of
the medical manipulator according to the embodiment of the present
disclosure.
[0022] FIG. 9 is a perspective view showing the configuration of an
operation unit of the medical manipulator according to the
embodiment of the present disclosure.
[0023] FIG. 10 is a side view showing the configuration of the
operation unit of the medical manipulator according to the
embodiment of the present disclosure.
[0024] FIG. 11 is a diagram showing a state in which an operator
grasps the operation unit of the medical manipulator according to
the embodiment of the present disclosure.
[0025] FIG. 12 is a diagram for illustrating translation of the
arm.
[0026] FIG. 13 is a diagram for illustrating rotation of the
arm.
[0027] FIG. 14 is a block diagram showing the configuration of a
controller of the medical manipulator according to the embodiment
of the present disclosure.
[0028] FIG. 15 is a flowchart for illustrating a method for
displaying an image of the patient placed on a surgical table
according to the embodiment of the present disclosure.
[0029] FIG. 16 is a diagram showing the display of the medical cart
according to the embodiment of the present disclosure.
[0030] FIG. 17 is another diagram showing the display of the
medical cart according to the embodiment of the present
disclosure.
[0031] FIG. 18 is a diagram showing alignment between the trocars
displayed on the display and the marks.
[0032] FIG. 19 is another diagram showing alignment between the
trocars displayed on the display and the marks.
[0033] FIG. 20 is a perspective view showing a display according to
a first modified example.
[0034] FIG. 21 is a perspective view showing an imaging device
according to a second modified example.
DESCRIPTION OF THE PREFERRED EMBODIMENTS
[0035] An embodiment of the present disclosure is hereinafter
described with reference to the drawings.
[0036] The configuration of a surgical system 100 according this
embodiment is now described with reference to FIGS. 1 to 19. The
surgical system 100 includes a medical manipulator 1 that is a
patient P-side device and a remote operation device 2 that is an
operator-side device configured to operate the medical manipulator
1. The medical manipulator 1 includes a medical cart 3, and is
configured to be movable. The remote operation device 2 is spaced
apart from the medical manipulator 1, and the medical manipulator 1
is configured to be remotely operated by the remote operation
device 2. A surgeon inputs a command to the remote operation device
2 to cause the medical manipulator 1 to perform a desired
operation. The remote operation device 2 transmits the input
command to the medical manipulator 1. The medical manipulator 1
operates based on the received command. The medical manipulator 1
is arranged in an operating room that is a sterilized sterile
field. The medical manipulator 1 is an example of a "surgical
robot" in the claims.
[0037] The remote operation device 2 is arranged inside or outside
the operating room, for example. The remote operation device 2
includes operation manipulator arms 21, operation pedals 22, a
touch panel 23, a monitor 24, a support arm 25, and a support bar
26. The operation manipulator arms 21 define operation handles for
the surgeon to input commands. The monitor 24 is a scope-type
display that displays an image captured by an endoscope 6. The
support arm 25 supports the monitor 24 so as to align the height of
the monitor 24 with the height of the surgeon's face. The touch
panel 23 is arranged on the support bar 26. The surgeon's head is
detected by a sensor (not shown) provided in the vicinity of the
monitor 24 such that the medical manipulator 1 can be operated by
the remote operation device 2. The surgeon operates the operation
manipulator arms 21 and the operation pedals 22 while visually
recognizing an affected area on the monitor 24. Thus, a command is
input to the remote operation device 2. The command input to the
remote operation device 2 is transmitted to the medical manipulator
1.
[0038] The medical cart 3 includes a controller 31 that controls
the operation of the medical manipulator 1 and a storage 32 that
stores programs or the like to control the operation of the medical
manipulator 1. The controller 31 of the medical cart 3 controls the
operation of the medical manipulator 1 based on the command input
to the remote operation device 2.
[0039] The medical cart 3 includes an input 33. The input 33 is
configured to receive operations to move a positioner 40, an arm
base 50, and a plurality of arms 60 or change their postures mainly
in order to prepare for surgery before the surgery. The positioner
40 is an example of an "arm base mover" in the claims.
[0040] As shown in FIGS. 1 and 2, the medical manipulator 1 is
arranged in the operating room. The medical manipulator 1 includes
the medical cart 3, the positioner 40, the arm base 50, and the
plurality of arms 60. The arm base 50 is attached to the tip end of
the positioner 40. The arm base 50 has a relatively long rod shape
(long shape). The bases of the plurality of arms 60 are attached to
the arm base 50. Each of the plurality of arms 60 is configured to
be able to take a folded posture (stored posture). The arm base 50
and the plurality of arms 60 are covered with sterile drapes (not
shown) and used.
[0041] In this embodiment, the arm base 50 includes an imaging
device 51. The imaging device 51 is provided to align the arm base
50 and the arms 60 with the patient P who is placed on a surgical
table 5 and has the trocars T inserted into their body surface
S.
[0042] The positioner 40 includes a 7-axis articulated robot, for
example. The positioner 40 is arranged on a casing 34 of the
medical cart 3. The positioner 40 moves the arm base 50.
Specifically, the positioner 40 is configured to move the position
of the arm base 50 three-dimensionally.
[0043] The positioner 40 includes a base 41 and a plurality of
links 42 coupled to the base 41. The plurality of links 42 are
coupled to each other by joints 43.
[0044] As shown in FIG. 1, a medical device 4 is attached to the
tip end of each of the plurality of arms 60. The medical device 4
includes a replaceable instrument (see FIG. 2) or the endoscope 6
(see FIG. 7), for example.
[0045] As shown in FIG. 2, the instrument as the medical device 4
includes a driven unit 4a driven by a servomotor M2 provided in a
holder 71 of each of the arms 60. An end effector 4b is provided at
the tip end of the instrument. The end effector 4b includes a pair
of forceps, a pair of scissors, a grasper, a needle holder, a
microdissector, a stable applier, a tacker, a suction cleaning
tool, a snare wire, a clip applier, etc. as instruments having
joints. The end effector 4b includes a cutting blade, a cautery
probe, a washer, a catheter, a suction orifice, etc. as instruments
having no joint. The medical device 4 includes a shaft 4c that
connects the driven unit 4a to the end effector 4b. The driven unit
4a, the shaft 4c, and the end effector 4b are arranged along a Z
direction.
[0046] In this embodiment, as shown in FIGS. 3 and 4, the medical
cart 3 (input 33) includes a display 33a. The display 33a is
configured to display the patient P imaged by the imaging device 51
in real time. As shown in FIG. 5 (and FIGS. 18 and 19), on the
display 33a, an image of the patient P captured by the imaging
device 51 and marks MK configured to align the arm base 50 with the
patient P are superimposed and displayed. Specifically, on the
display 33a, an image of the trocars T (see FIG. 6) for inserting
the endoscope 6 from the body surface S of the patient P captured
the imaging device 51 and the marks MK configured to align the arm
base 50 with the trocars T are superimposed and displayed. The
marks MK displayed on the display 33a are aligned, on the display
33a, with the trocars T displayed on the display 33a such that the
arms 60 are aligned with a surgical location in the patient P
placed on the surgical table 5.
[0047] The image of the patient P (trocars T) displayed on the
display 33a is an image actually captured by the imaging device 51,
and the marks MK are graphical user interface (GUI) images
generated by the controller 31 and are stored in the storage 32.
The controller 31 is equipped with an image processing circuit 31c
that displays an image obtained from the imaging device 51 on the
display 33a. The image processing circuit 31c using a field
programmable gate array (FPGA) mounted on the controller 31
synthesizes and displays the image of the patient P (trocars T)
actually captured by the imaging device 51 and stored in the
storage 32 and the marks MK of the GUI images on the display 33a in
real time with a delay that people do not recognize. The image
processing circuit 31c may include an application specific
integrated circuit (ASIC) or a system on a chip (SoC), for example,
other than the field programmable gate array (FPGA).
[0048] Specifically, in this embodiment, the trocars T includes a
first trocar T1 into which the endoscope 6 is inserted and second
trocars T2 into which the medical devices 4 other than the
endoscope 6 are inserted. The marks MK displayed on the display 33a
include a first mark MK1 aligned with the first trocar T1 on the
display 33a and a second mark MK2 aligned with the second trocars
T2 on the display 33a. More specifically, the first mark MK1 is
displayed on a substantially central portion of the display 33a and
has a substantially circular shape. The second mark MK2 has a cross
shape centered on the substantially circular first mark MK1
(intersects at the center of the substantially circular first mark
MK1).
[0049] In this embodiment, the size of the substantially circular
first mark MK1 is larger than the size of the first trocar T1
displayed on the display 33a. Specifically, the diameter of the
substantially circular first mark MK1 is larger than the diameter
of the first trocar T1 having a substantially circular
cross-section.
[0050] In this embodiment, a plurality of second trocars T2 are
provided on the body surface S of the patient P. The plurality of
second trocars T2 are arranged on a substantially straight line.
The trocars T are arranged in the order of the second trocar T2,
the first trocar T1, the second trocar T2, and the second trocar T2
so as to correspond to a plurality of (four) arms 60.
[0051] In this embodiment, the display 33a has a substantially
rectangular shape. For example, the display 33a has a horizontally
long rectangular shape as viewed from an operator. The cross-shaped
second mark MK2 includes a substantially linear first line L1
provided along the longitudinal direction of the substantially
rectangular display 33a, and a substantially linear second line L2
provided along the transverse direction of the substantially
rectangular display 33a. The medical manipulator 1 is configured
such that the plurality of second trocars T2 are aligned along the
first line L1 or the second line L2 on the display 33a.
[0052] In this embodiment, the display of the first line L1 and the
second line L2 on the display 33a is fixed on the display 33a. The
display 33a is fixed to the medical cart 3. Thus, a direction along
the first line L1 corresponds to the moving direction
(forward-rearward direction) of the medical cart 3. An image on the
display 33a on which the patient P is displayed changes with
movement of the arm base 50 (imaging device 51) or movement of the
medical cart 3.
[0053] In this embodiment, a magnification change button B is
provided to enlarge or reduce an image of the first mark MK1
together with the image of the patient P displayed on the display
33a. The magnification change button B is displayed on the touch
panel. When the magnification change button B is pressed, the
magnification percentage of an image is changed in a loop of 100%,
200%, 400%, 100%, and 200%. When the magnification percentage of
the image is 100%, the end of the surgical table 5 and a nearby
assistant and nurse are displayed on the display 33a.
[0054] In this embodiment, the first trocar T1 displayed on the
display 33a and the first mark MK1 are aligned with each other on
the display 33a, and the second trocars T2 displayed on the display
33a and the second mark MK2 are aligned with each other on the
display 33a such that the arms 60 are aligned with the surgical
location in the patient P placed on the surgical table 5. The
details of alignment of the arms 60 with the surgical location in
the patient P (roll-in of the medical manipulator 1) are described
below.
[0055] In this embodiment, as shown in FIG. 3, a joystick 33b for
operating movement of the positioner 40 is provided in the vicinity
of the display 33a of the medical cart 3. The positioner 40 can be
operated three-dimensionally by selecting an operation mode
displayed on the display 33a and operating the joystick 33b. At the
time of roll-in, the joystick 33b is operated such that the
positioner 40 is moved so as to move the arm base 50 on a
two-dimensional plane. On the display 33a, the trocars T displayed
on the display 33a and the marks MK are aligned with each other.
Specifically, the joystick 33b is provided at a substantially
central portion of the display 33a in the transverse direction and
below the display 33a on the input 33. The joystick 33b is an
example of a "first operation unit" in the claims.
[0056] In this embodiment, an enable switch 33c for allowing or
disallowing movement of the positioner 40 is provided in the
vicinity of the joystick 33b of the medical cart 3. The joystick
33b is operated while the enable switch 33c is pressed to allow the
positioner 40 to move such that the positioner 40 is moved.
Specifically, the enable switch 33c is provided below the display
33a and adjacent to the joystick 33b on the input 33. The enable
switch 33c is an example of a "first enable switch" in the
claims.
[0057] In this embodiment, a handle 35 for operating movement of
the medical cart 3 is provided in the vicinity of the display 33a
of the medical cart 3. The handle 35 includes throttles 35a that
are gripped and rotated by the operator (such as a nurse or a
technician) to operate movement of the medical cart 3.
Specifically, the handle 35 is arranged below the input 33. A pair
of throttles 35a are provided at both ends of the handle 35. The
throttles 35a are rotated from the front side to the rear side such
that the medical cart 3 moves forward. The throttles 35a are
rotated from the rear side to the front side such that the medical
cart 3 moves rearward. The speed of the medical cart 3 is changed
according to the amount of rotation of the throttles 35a. The
handle 35 is configured to be rotatable to the left and right (R
direction), and the moving direction of the medical cart 3 is
changed with rotation of the handle 35. The handle 35 is an example
of a "second operation unit" in the claims.
[0058] In this embodiment, an enable switch 35b for allowing or
disallowing movement of the medical cart 3 is provided in the
vicinity of the handle 35 of the medical cart 3. The throttles 35a
of the handle 35 are operated in a state in which the enable switch
35b is pressed and the medical cart 3 is allowed to move such that
the medical cart 3 is moved. Specifically, the enable switch 35b is
provided adjacent to one of the pair of throttles 35a on the handle
35. The enable switch 35b is an example of a "second enable switch"
in the claims.
[0059] In this embodiment, while the trocars T displayed on the
display 33a and the marks MK are aligned with each other on the
display 33a, the positioner 40 is controlled such that the arm base
50 is moved in order for the imaging device 51 to image a region
vertically therebelow. This control is performed by the controller
31 that controls the operation of the medical manipulator 1.
[0060] The configuration of the arms 60 is now described in
detail.
[0061] As shown in FIG. 8, each of the arms 60 includes an arm
portion 61 (a base 62, links 63, and joints 64) and a translation
mechanism 70 provided at the tip end of the arm portion 61. The
arms 60 are configured to be able to three-dimensionally move the
tip end sides with respect to the base sides (arm base 50) of the
arms 60. The plurality of arms 60 have the same configuration as
each other.
[0062] The translation mechanism 70 is provided on the tip end side
of the arm portion 61, and the medical device 4 is attached
thereto. The translation mechanism 70 translates the medical device
4 in a direction in which the medical device 4 is inserted into the
patient P. Furthermore, the translation mechanism 70 is configured
to translate the medical device 4 relative to the arm portion 61.
Specifically, the translation mechanism 70 includes the holder 71
that holds the medical device 4. The servomotor M2 (see FIG. 14) is
housed in the holder 71. The servomotor M2 is configured to rotate
a rotating body provided in the driven unit 4a of the medical
device 4. The rotating body of the driven unit 4a is rotated such
that the end effector 4b is operated.
[0063] The arms 60 are configured to be removable from the arm base
50.
[0064] The arm portion 61 includes a 7-axis articulated robot arm.
The arm portion 61 includes the base 62 configured to attach the
arm portion 61 to the arm base 50, and a plurality of links 63
coupled to the base 62. The plurality of links 63 are coupled to
each other by the joints 64.
[0065] The translation mechanism 70 is configured to translate the
medical device 4 attached to the holder 71 along the Z direction (a
direction in which the shaft 4c extends) by translating the holder
71 along the Z direction. Specifically, the translation mechanism
70 includes a base end side link 72 connected to the tip end of the
arm portion 61, a tip end side link 73, and a coupling link 74
provided between the base end side link 72 and the tip end side
link 73. The holder 71 is provided on the tip end side link 73.
[0066] The coupling link 74 of the translation mechanism 70 is
configured as a double speed mechanism that moves the tip end side
link 73 relative to the base end side link 72 along the Z
direction. The tip end side link 73 is moved along the Z direction
relative to the base end side link 72 such that the medical device
4 provided on the holder 71 is translated along the Z direction.
The tip end of the arm portion 61 is connected to the base end side
link 72 so as to rotate the base end side link 72 about a Y
direction orthogonal to the Z direction.
[0067] As shown in FIG. 1, the endoscope 6 is attached to one (an
arm 60b, for example) of the plurality of arms 60, and the medical
devices 4 other than the endoscope 6 are attached to the remaining
arms 60 (arms 60a, 60c, and 60d, for example).
[0068] As shown in FIG. 9, the medical manipulator 1 includes an
operation unit 80 attached to each of the arms 60 to operate the
arm 60. The operation unit 80 includes enable switches 81, a
joystick 82, and switch units 83. The enable switches 81 allow or
disallow movement of the arm 60 through the joystick 82 and the
switch units 83. The enable switches 81 get into a state of
allowing movement of the medical device 4 by the arm 60 when the
operator (such as a nurse or an assistant) grasps and presses the
operation unit 80.
[0069] Specifically, the enable switches 81 are push-button
switches pressed by the operator's fingers. The enable switches 81
are pressed such that it becomes possible to perform a control to
energize servomotors M1 to M3 (perform a control to drive the
servomotors M1 to M3). That is, it becomes possible to perform a
control to move the arm 60 only while the enable switches 81 are
pressed.
[0070] As shown in FIG. 11, the operator tilts the joystick 82 with
their finger such that the joystick 82 is operated. The arm 60 is
controlled to be moved according to a direction in which the
joystick 82 is tilted and an angle at which the joystick 82 is
tilted. The operator brings their finger into contact with the tip
end 82a of the joystick 82, moves their finger, and tilts the
joystick 82 to operate the joystick 82. Only while the enable
switches 81 are pressed, a signal input based on the operation of
the joystick 82 is received. That is, when the enable switches 81
are not pressed, the arm 60 is not moved even when the joystick 82
is operated.
[0071] As shown in FIGS. 9 and 10, the joystick 82 is provided on
an end face 80c of the operation unit 80 that intersects with an
outer peripheral surface 80a. The operator can operate the joystick
82 with their finger while grasping the outer peripheral surface
80a of the operation unit 80 and pressing the enable switches 81 so
as to allow movement of the arm 60. For example, as shown in FIG.
11, the operator operates the joystick 82 provided on the end face
80c of the operation unit 80 with their index finger, for example,
while pressing a pair of enable switches 81 provided on the outer
peripheral surface 80a of the operation unit 80 with their thumb
and middle finger, for example. Thus, substantially constant
distances between the operator's thumb and middle finger that grasp
the operation unit 80 and the operator's index finger that operates
the joystick 82 can be easily maintained. Which fingers are used to
operate the enable switches 81 and the joystick 82 is not limited
to the above example. Movement of the arm 60 may be allowed while
only one of the pair of enable switches 81 is pressed.
[0072] The joystick 82 is configured to operate movement of the
medical device 4 by the arm 60 such that the tip end 4d (see FIG.
8) of the medical device 4 moves on a predetermined plane. The
operation unit 80 includes the switch units 83 configured to
operate movement of the medical device 4 by the arm 60 such that
the tip end 4d of the medical device 4 moves along the longitudinal
direction of the medical device 4 orthogonal to the predetermined
plane. The predetermined plane on which the tip end 4d of the
medical device 4 moves refers to a plane (an X-Y plane in FIG. 9)
parallel to the end face 80c of the operation unit 80. The
longitudinal direction of the medical device 4 orthogonal to the
predetermined plane refers to the Z direction orthogonal to the X-Y
plane in FIG. 9. Coordinates represented by an X-axis, a Y-axis,
and a Z-axis in FIG. 9 are referred to as a tool coordinate system
(or a base coordinate system). When the switch units 83 are pressed
while the enable switches 81 are pressed (while movement of the
medical device 4 by the arm 60 is allowed), the tip end 4d of the
medical device 4 is moved along the longitudinal direction of the
medical device 4.
[0073] Each of the switch units 83 includes a switch 83a configured
to move the tip end 4d of the medical device 4 in the direction in
which the medical device 4 is inserted into the patient P along the
longitudinal direction of the medical device 4, and a switch 83b
configured to move the tip end 4d of the medical device 4 in a
direction opposite to the direction in which the medical device 4
is inserted into the patient P. Both the switch 83a and the switch
83b are push-button switches.
[0074] As shown in FIG. 9, the operation unit 80 includes pivot
buttons 85 each configured to teach a pivot position PP that serves
as a fulcrum (see FIG. 13) for movement of the medical device 4
attached to the arm 60. The pivot buttons 85 are provided adjacent
to the enable switches 81 on a surface 80b of the operation unit
80. When the pivot buttons 85 are pressed, the pivot position PP is
taught.
[0075] As shown in FIG. 9, the operation unit 80 includes a mode
switching button 84 configured to switch between a mode for
translating the medical device 4 attached to the arm 60 (see FIG.
12) and a mode for rotating the medical device 4 (see FIG. 13). In
the operation unit 80, the mode switching button 84 is arranged in
the vicinity of the joystick 82. Specifically, on the end face 80c
of the operation unit 80, the mode switching button 84 is provided
adjacent to the joystick 82. The mode switching button 84 is a
push-button switch. Furthermore, a mode indicator 84a is provided
in the vicinity of the mode switching button 84. The mode indicator
84a indicates a switched mode. Specifically, the mode indicator 84a
is turned on (rotation mode) or off (translation mode) such that a
current mode (translation mode or rotation mode) is indicated.
[0076] As shown in FIG. 12, in the mode for translating the arm 60,
the arm 60 is moved such that the tip end 4d of the medical device
4 moves on the X-Y plane. As shown in FIG. 13, in the mode for
rotating the arm 60, when the pivot position PP is not taught, the
arm 60 is moved such that the medical device 4 rotates about the
end effector 4b, and when the pivot position PP is taught, the arm
60 is moved such that the medical device 4 rotates about the pivot
position PP as a fulcrum. The medical device 4 is rotated while the
shaft 4c of the medical device 4 is inserted into the trocar T.
[0077] As shown in FIG. 8, the operation unit 80 is provided on the
translation mechanism 70. The operation unit 80 is attached to the
translation mechanism 70 so as to be adjacent to the medical device
4 attached to the translation mechanism 70. Specifically, the
operation unit 80 is attached to the tip end side link 73 of the
translation mechanism 70. The operation unit 80 is arranged
adjacent to the driven unit 4a of the medical device 4.
[0078] As shown in FIG. 14, the arm 60 includes a plurality of
servomotors M1, encoders E1, and speed reducers (not shown) so as
to correspond to a plurality of joints 64 of the arm portion 61.
The encoders E1 are configured to detect the rotation angles of the
servomotors M1. The speed reducers are configured to slow down
rotation of the servomotors M1 to increase the torques.
[0079] As shown in FIG. 14, the translation mechanism 70 includes
the servomotor M2 configured to rotate the rotating body provided
in the driven unit 4a of the medical device 4, the servomotor M3
configured to translate the medical device 4, encoders E2 and E3,
and speed reducers (not shown). The encoders E2 and E3 are
configured to detect the rotation angles of the servomotors M2 and
M3, respectively. The speed reducers are configured to slow down
rotation of the servomotors M2 and M3 to increase the torques.
[0080] The positioner 40 includes a plurality of servomotors M4,
encoders E4, and speed reducers (not shown) so as to correspond to
a plurality of joints 43 of the positioner 40. The encoders E4 are
configured to detect the rotation angles of the servomotors M4. The
speed reducers are configured to slow down rotation of the
servomotors M4 to increase the torques.
[0081] The medical cart 3 includes servomotors M5 configured to
drive a plurality of front wheels (not shown) of the medical cart
3, respectively, encoders E5, and speed reducers (not shown). The
encoders E5 are configured to detect the rotation angles of the
servomotors M5. The speed reducers are configured to slow down
rotation of the servomotors M5 to increase the torques.
[0082] The controller 31 of the medical cart 3 includes an arm
controller 31a that controls movement of the plurality of arms 60
based on commands, and a positioner controller 31b that controls
movement of the positioner 40 and driving of the front wheels (not
shown) of the medical cart 3 based on commands. Servo controllers
C1 configured to control the servomotors M1 configured to drive the
arm 60 are electrically connected to the arm controller 31a. The
encoders E1 configured to detect the rotation angles of the
servomotors M1 are electrically connected to the servo controllers
C1.
[0083] A servo controller C2 configured to control the servomotor
M2 configured to drive the medical device 4 is electrically
connected to the arm controller 31a. The encoder E2 configured to
detect the rotation angle of the servomotor M2 is electrically
connected to the servo controller C2. A servo controller C3
configured to control the servomotor M3 configured to translate the
translation mechanism 70 is electrically connected to the arm
controller 31a. The encoder E3 configured to detect the rotation
angle of the servomotor M3 is electrically connected to the servo
controller C3.
[0084] An operation command input to the remote operation device 2
is input to the arm controller 31a. The arm controller 31a
generates position commands based on the input operation command
and the rotation angles detected by the encoders E1 (E2 or E3), and
outputs the position commands to the servo controllers C1 (C2 or
C3). The servo controllers C1 (C2 or C3) generate torque commands
based on the position commands input from the arm controller 31a
and the rotation angles detected by the encoders E1 (E2 or E3), and
output the torque commands to the servomotors M1 (M2 or M3). Thus,
the arm 60 is moved according to the operation command input to the
remote operation device 2.
[0085] The controller 31 (arm controller 31a) is configured to
operate the arm 60 based on an input signal from the joystick 82 of
the operation unit 80. Specifically, the arm controller 31a
generates position commands based on the input signal (operation
command) input from the joystick 82 and the rotation angles
detected by the encoders E1, and outputs the position commands to
the servo controllers C1. The servo controllers C1 generate torque
commands based on the position commands input from the arm
controller 31a and the rotation angles detected by the encoders E1,
and output the torque commands to the servomotors M1. Thus, the arm
60 is moved according to the operation command input to the
joystick 82.
[0086] The controller 31 (arm controller 31a) is configured to
operate the arm 60 based on an input signal from each of the switch
units 83 of the operation unit 80. Specifically, the arm controller
31a generates a position command(s) based on the input signal
(operation command) input from each of the switch units 83 and the
rotation angle(s) detected by the encoders E1 or the encoder E3,
and outputs the position command(s) to the servo controllers C1 or
the servo controller C3. The servo controllers C1 or the servo
controller C3 generates a torque command(s) based on the position
command(s) input from the arm controller 31a and the rotation
angle(s) detected by the encoders E1 or the encoder E3, and
output(s) the torque command(s) to the servomotors M1 or the
servomotor M3. Thus, the arm 60 is moved according to the operation
command input to each of the switch units 83.
[0087] As shown in FIG. 14, servo controllers C4 configured to
control the servomotors M4 that move the positioner 40 are
electrically connected to the positioner controller 31b. The
encoders E4 configured to detect the rotation angles of the
servomotors M4 are electrically connected to the servo controllers
C4. Servo controllers C5 configured to control the servomotors M5
that drive the front wheels (not shown) of the medical cart 3 are
electrically connected to the positioner controller 31b. The
encoders E5 configured to detect the rotation angles of the
servomotors M5 are electrically connected to the servo controllers
C5.
[0088] An operation command regarding preparation position setting,
for example, is input from the input 33 to the positioner
controller 31b. The positioner controller 31b generates position
commands based on the operation command input from the input 33 and
the rotation angles detected by the encoders E4, and outputs the
position commands to the servo controllers C4. The servo
controllers C4 generate torque commands based on the position
commands input from the positioner controller 31b and the rotation
angles detected by the encoders E4, and output the torque commands
to the servomotors M4. Thus, the positioner 40 is moved according
to the operation command input to the input 33. Similarly, the
positioner controller 31b moves the medical cart 3 based on an
operation command from the input 33.
[0089] A method for displaying the image of the patient P placed on
the surgical table 5 (a method for positioning the medical
manipulator 1) is now described. Positioning the medical
manipulator 1 refers to aligning the arms 60 with the surgical
location in the patient P placed on the surgical table 5. The
trocars T (one first trocar T1 and three second trocars T2; see
FIG. 6) are inserted in advance into the body surface S of the
patient P. The height of the arm base 50 (arms 60) is fixed.
[0090] First, in step S1 (see FIG. 15), preparation for positioning
the medical manipulator 1 is performed. Specifically, as shown in
FIG. 16, on the display 33a (touch panel), a surgical site
(anatomy: "abdomen", for example) and a direction in which the
medical manipulator 1 is inserted into the patient P ("from the
right side", for example) are selected.
[0091] Then, in step S2, as shown in FIG. 16, a "roll in" button
displayed on the display 33a is pressed. Thus, a roll-in mode is
set, and the movement operation of the arm base 50 and the arms 60
is controlled such that the medical manipulator 1 takes a roll-in
posture. The roll-in posture refers to a posture in which each arm
60 is folded so as not to interfere with the patient P when the arm
60 is positioned above the patient P by movement of the medical
manipulator 1, a posture in which the arm base 50 is arranged by
the positioner 40 such that the imaging device 51 provided on the
arm base 50 can image the region vertically therebelow, and a
posture in which the arm base 50 is arranged by the positioner 40
such that the orientation of the arm base 50 corresponds to the
arrangement direction of the arms 60 determined based on the
information on the surgical site and the information on the
insertion direction selected in step S1. That is, after the "roll
in" button displayed on the display 33a is pressed such that a
transition to the roll-in mode is made, the joystick 33b is
operated while the enable switch 33c is pressed to allow the
positioner 40 to move such that the controller 31 moves the
positioner 40 and each arm 60 such that the medical manipulator 1
automatically takes the roll-in posture.
[0092] Then, in step S3, as shown in FIG. 17, after the movement
operation of the arms 60, a screen of the display 33a is switched
to an image captured by the imaging device 51. That is, the display
of the image captured by the imaging device 51 provided on the arm
base 50 is started. Furthermore, the display 33a displays the marks
MK (the first mark MK1 and the second mark MK2). In this imaging, a
moving image is captured. The positioner 40 is controlled to move
the arm base 50 such that the orientation of the arm base 50
corresponds to the arrangement direction of the plurality of arms
60 determined based on an input of the information on the surgical
site, an input of the information on the direction in which the
medical manipulator 1 is inserted into the patient P, and an input
of mode setting for aligning the arm base 50 with the patient P. In
the roll-in posture, when the arm base 50 is rotated in a
horizontal plane such that the arrangement direction of the arms 60
correspond to the surgical site and the insertion direction
selected in step S1, the captured image is corrected to be rotated
in a direction opposite to rotation of the arm base 50 and
displayed on the display 33a. Thus, the operator (such as a nurse
or a technician) can start movement of the medical manipulator 1
while viewing the image of the patient P corrected to an
orientation corresponding to the orientation of the operator.
[0093] Then, in step S4, the operator operates the handle 35
including the throttles 35a while visually recognizing the display
33a (the image captured by the imaging device 51) such that the
medical cart 3 is moved (rolled in) to the vicinity of the patient
P placed on the surgical table 5. When the handle 35 is not rotated
to the left or right, the first line L1 of the second mark MK2
displayed on the display 33a coincides with the moving direction of
the medical cart 3. The display of the first line L1 and the second
line L2 on the display 33a is fixed on the display 33a. An image
displayed on the display 33a changes with movement of the arm base
50 (imaging device 51) or movement of the medical cart 3.
[0094] Then, as shown in FIG. 18, the medical cart 3 is moved to
the vicinity of the patient P placed on the surgical table 5 such
that the imaging device 51 provided on the arm base 50 images the
patient P placed on the surgical table 5 and having the trocars T
inserted into their body surface S. Thus, the patient P having the
trocars T inserted into their body surface S imaged by the imaging
device 51 is displayed on the display 33a. Furthermore, the marks
MK aligned with the trocars T displayed on the display 33a are
displayed on the display 33a. At this time, the relative positional
relationship between the trocars T inserted into the body surface S
of the patient P and the marks MK, which changes with movement of
the arm base 50 accompanying movement of the medical cart 3, is
displayed on the display 33a.
[0095] Specifically, on the display 33a, the substantially circular
first mark MK1 and the cross-shaped second mark MK2 are displayed
in advance. Then, on the display 33a, the body surface S of the
patient P imaged by the imaging device 51 is displayed so as to
overlap the first mark MK1 and the second mark MK2.
[0096] Then, in step S5, the operator operates the handle 35
including the throttles 35a to move the medical cart 3 while
visually recognizing the display 33a (the image captured by the
imaging device 51) such that the first trocar T1 is arranged inside
the substantially circular first mark MK1. In the roll-in posture,
the arm base 50 is rotated in the horizontal plane such that the
arrangement direction of the arms 60 correspond to the surgical
site and the insertion direction selected in step S1, and thus on
the display 33a, the plurality of second trocars T2 are arranged
substantially on the first line L1 or the second line L2 of the
second mark MK2 with the first trocar T1 being arranged inside the
substantially circular first mark MK1.
[0097] In step S5, when the trocars T are misaligned with the first
line L1 or the second line L2, the operator operates the joystick
33b while pressing the enable switch 33c such that the arm base 50
is rotated in the horizontal plane. Thus, the position of the arm
base 50 is finely adjusted. The image of the body surface S of the
patient P rotates with rotation of the medical cart 3 or the arm
base 50. On the other hand, on the display 33a, the first mark MK1
and the second mark MK2 are fixed. The magnification change button
B is pressed to switch the magnification percentage of the image
such that the operator can easily view the image.
[0098] Then, as shown in FIG. 19, the joystick 33b is operated such
that the trocars T displayed on the display 33a and the marks MK
are finely adjusted so as to be aligned with each other on the
display 33a. Specifically, the position of the arm base 50 is
finely adjusted by rotating the arm base 50 in the horizontal plane
such that the plurality of second trocars T2 are arranged on the
first line L1 or the second line L2 of the second mark MK2 with the
first trocar T1 being arranged inside the substantially circular
first mark MK1. In FIG. 19, the arm base 50 is rotated such that
the plurality of second trocars T2 are arranged on the first line
L1. Thus, positioning of the medical manipulator 1 is completed.
Depending on surgical technique, the plurality of second trocars T2
do not necessarily need to be arranged on the first line L1 or the
second line L2 of the second mark MK2.
[0099] Then, in step S6, the plurality of arms 60 transition to a
setup posture. The setup posture refers to a posture in which the
plurality of arms 60 are further opened (extended) than in the
roll-in posture so as to facilitate teaching of the pivot position
PP described below. As shown in FIG. 19, after an "arm preparation"
button is pressed such that a transition to a setup posture mode is
made, the joystick 33b is operated while the enable switch 33c is
pressed to allow the positioner 40 to move such that the controller
31 moves the positioner 40 and the arms 60 to cause the medical
manipulator 1 to take the setup posture. After a transition to the
setup posture is made, a stabilizer (not shown) mounted on the
medical cart 3 is activated when a button for allowing the
stabilizer displayed on the touch panel is pressed.
[0100] Then, in step S7, the endoscope 6 is attached to the arm 60
corresponding to the first trocar T1, and the pivot position PP is
taught. After the teaching of the pivot position PP of the
endoscope 6 is completed, the medical devices 4 other than the
endoscope 6 are attached, and the pivot positions PP are
taught.
[0101] In step S5, the medical cart 3 is moved such that the first
trocar T1 is arranged inside the first mark MK1, but the medical
cart 3 may be moved to a position at which the patient is arranged
below the arm base 50 without aligning the first mark MK1 with the
first trocar T1. In this case, in step S5, the operator operates
the joystick 33b while pressing the enable switch 33c such that the
arm base 50 is rotated and translated in the horizontal plane so as
to align the first mark MK1 with the first trocar T1 while the
medical manipulator 1 maintains the roll-in posture.
Advantages of this Embodiment
[0102] According to this embodiment, the following advantages are
achieved.
Advantages of Surgical Robot
[0103] According to this embodiment, as described above, the
patient P imaged by the imaging device 51 is displayed on the
display 33a, and the arm base 50 can be aligned with the surgical
location in the patient P placed on the surgical table 5 on the
display 33a while the condition of the patient P displayed on the
display 33a is checked. Accordingly, the operator (such as a nurse
or a technician) can move the medical cart 3 while checking the
condition of the patient P displayed on the display 33a.
[0104] According to this embodiment, as described above, the image
of the patient P captured by the imaging device 51 and the marks MK
used to align the arm base 50 with the patient P are superimposed
and displayed on the display 33a. Accordingly, the operator (such
as a nurse or a technician) can easily move the medical cart 3
while checking the marks MK superimposed on the image of the
patient P.
[0105] According to this embodiment, as described above, the image
of the trocars T configured to allow the endoscope 6 to be inserted
from the body surface S of the patient P captured by the imaging
device 51 and the marks MK used to align the arm base 50 with the
trocars T are superimposed and displayed on the display 33a.
Accordingly, the operator (such as a nurse or a technician) can
move the medical cart 3 while visually recognizing the display 33a
provided on the medical cart 3 such that the trocars T displayed on
the display 33a and the marks MK are aligned with each other.
[0106] According to this embodiment, as described above, the arms
60 are aligned with the surgical location in the patient P placed
on the surgical table 5 by aligning the trocars T displayed on the
display 33a with the marks MK. Accordingly, the arms 60 can be
aligned with the surgical location with a short movement
distance.
[0107] According to this embodiment, as described above, the
trocars T include the trocar T (first trocar T1) configured to
allow the endoscope 6 to be inserted thereinto, and the mark MK
displayed on the display 33a is aligned with the trocar T (first
trocar T1) on the display 33a. Accordingly, the mark MK is
displayed on the display 33a for the first trocar T1 into which the
endoscope 6 is inserted, and thus alignment using the endoscope 6
as a reference can be performed.
[0108] According to this embodiment, as described above, the
trocars T include the first trocar T1 configured to allow the
endoscope 6 to be inserted thereinto and the second trocars T2
configured to allow the medical devices 4 other than the endoscope
6 to be inserted thereinto, and the marks MK displayed on the
display 33a include the first mark MK1 used to align with the first
trocar T1 on the display 33a and the second mark MK2 used to align
with the second trocars T2 on the display 33a. Accordingly, the
marks MK are separately displayed on the display 33a for the first
trocar T1 into which the endoscope 6 is inserted and the second
trocars T2 into which the medical devices 4 other than the
endoscope 6 are inserted, and thus the medical devices 4 other than
the endoscope 6 can be aligned using the endoscope 6 as a
reference.
[0109] According to this embodiment, as described above, the first
mark MK1, which has a substantially circular shape, is displayed on
the substantially central portion of the display 33a, and the
second mark MK2 has a cross shape centered on the substantially
circular first mark MK1. Generally, one first trocar T1 into which
the endoscope 6 is inserted and a plurality of second trocars T2 to
which the medical devices 4 other than the endoscope 6 are attached
are inserted into the body surface S of the patient P. Furthermore,
one first trocar T1 and the plurality of second trocars T2 are
arranged substantially linearly. Therefore, with the configuration
described above, the first mark MK1 and the second mark MK2 can be
easily aligned with one first trocar T1 and the plurality of second
trocars T2 arranged substantially linearly, respectively, on the
display 33a.
[0110] According to this embodiment, as described above, the size
of the substantially circular first mark MK1 is larger than the
size of the first trocar T1 displayed on the display 33a.
Accordingly, even when the sizes of the first trocars T1 are
slightly different from each other depending on the types of first
trocars T1, the first trocar T1 can be aligned inside the
substantially circular first mark MK1.
[0111] According to this embodiment, as described above, the
plurality of second trocars T2 are provided on the body surface S
of patient P, the display 33a has a substantially rectangular
shape, the cross-shaped second mark MK2 includes the substantially
linear first line L1 provided along the longitudinal direction of
the substantially rectangular display 33a, and the substantially
linear second line L2 provided along the transverse direction of
the substantially rectangular display 33a, and the plurality of
second trocars T2 are aligned on the first line L1 or the second
line L2 on the display 33a. Accordingly, on the display 33a, the
first line L1 or the second line L2 can be easily aligned with the
plurality of second trocars T2 generally arranged on a
substantially straight line.
[0112] According to this embodiment, as described above, the first
line L1 and the second line L2 displayed on the display 33a are
fixed on the display 33a. Accordingly, the first line L1 provided
along the longitudinal direction of the display 33a corresponds to
the moving direction of the medical cart 3, and thus the moving
direction of the medical cart 3 can be easily recognized.
[0113] According to this embodiment, as described above, the first
trocar T1 displayed on the display 33a and the first mark MK1 are
aligned with each other on the display 33a, and the second trocars
T2 displayed on the display 33a and the second mark MK2 are aligned
with each other on the display 33a such that the arms 60 are
aligned with the surgical location in the patient P placed on the
surgical table 5. Accordingly, the trocars T are aligned with both
the first mark MK1 and the second mark MK2 on the display 33a, and
thus the arms 60 can be more appropriately aligned with the
surgical location in the patient P.
[0114] According to this embodiment, as described above, the
magnification change button B is provided to enlarge or reduce the
image of the first mark MK1 together with the image of the patient
P displayed on the display 33a. Accordingly, the image displayed on
the display 33a can be enlarged such that the operator (such as a
nurse or a technician) can easily view the image, and thus it is
easy to align the trocars T and the marks MK with each other on the
display 33a.
[0115] According to this embodiment, as described above, the
display 33a includes the touch panel, and the magnification change
button B is displayed on the touch panel. Accordingly, the operator
(such as a nurse or a technician) can easily enlarge the image
displayed on the display 33a simply by touching the magnification
change button B on the touch panel.
[0116] According to this embodiment, as described above, the
medical manipulator 1 includes the joystick 33b provided in the
vicinity of the display 33a to operate movement of the positioner
40. Furthermore, the joystick 33b is operated and causes the
positioner 40 to move the arm base 50 on the two-dimensional plane,
and the trocars T displayed on the display 33a and the marks MK are
aligned with each other on the display 33a. Accordingly, the
joystick 33b configured to operate movement of the positioner 40 is
provided in the vicinity of the display 33a, and thus the operator
can operate the joystick 33b while visually recognizing the display
33a.
[0117] According to this embodiment, as described above, the
medical manipulator 1 includes the enable switch 33c provided in
the vicinity of the joystick 33b and configured to allow or
disallow movement of the positioner 40. Furthermore, the joystick
33b is operated and causes the positioner 40 to move the arm base
while the enable switch 33c is pressed. Accordingly, the enable
switch 33c is provided in the vicinity of the joystick 33b, and
thus the joystick 33b can be easily operated while the enable
switch 33c is pressed.
[0118] According to this embodiment, as described above, the
joystick 33b is provided in the vicinity of the display 33a.
Accordingly, the operator (such as a nurse or a technician) can
easily operate the joystick 33b with their finger.
[0119] According to this embodiment, as described above, the
medical manipulator 1 includes the handle 35 provided in the
vicinity of the display 33a to operate movement of the medical cart
3. Accordingly, the handle 35 is provided in the vicinity of the
display 33a, and thus the operator can move the arm base 50 by
operating the handle 35 while visually recognizing the display
33a.
[0120] According to this embodiment, as described above, the handle
35 includes the throttles 35a gripped and rotated by the operator
(such as a nurse or a technician) to cause the medical cart 3 to
move. Accordingly, the operator can easily operate movement of the
medical cart 3 simply by rotating the throttles 35a while visually
recognizing the display 33a.
[0121] According to this embodiment, as described above, the
medical manipulator 1 includes the enable switch 35b provided in
the vicinity of the handle 35 and configured to allow or disallow
movement of the medical cart 3. Furthermore, the handle 35 is
operated and causes the medical cart 3 to move while the enable
switch 35b is pressed. Accordingly, the enable switch 35b is
provided in the vicinity of the handle 35, and thus the handle 35
can be easily operated while the enable switch 35b is pressed.
[0122] According to this embodiment, as described above, the
positioner 40 moves the arm base 50 such that the imaging device 51
takes a posture to image the region vertically therebelow based on
an input for setting the roll-in mode to align the arm base 50 with
the patient P. Accordingly, the relative positional relationship
between the arms 60 and the patient P in the horizontal direction
can be appropriately adjusted, unlike a case in which the imaging
device 51 captures an image along a direction that intersects with
a vertical downward direction.
[0123] According to this embodiment, as described above, when
movement of the arm base 50 includes horizontal rotation of the arm
base 50, the image displayed on the display 33a is corrected to be
rotated in the direction opposite to rotation of the arm base 50.
Accordingly, the image of the patient P can be displayed on the
display 33a in the orientation corresponding to the orientation of
the operator.
[0124] According to this embodiment, as described above, the image
processing circuit 31c is mounted on the controller 31, and thus
the image captured by the imaging device 51 can be displayed on the
display 33a in real time with a delay that people do not recognize.
Accordingly, even when performing an operation while viewing the
display 33a, the operator can roll in the medical manipulator 1
without interference of the medical manipulator 1 with the patient
P. The image processing circuit 31c can include an application
specific integrated circuit (ASIC) or a system on a chip (SoC), for
example, other than the field programmable gate array (FPGA).
Advantages of Method for Displaying Image of Patient Placed on
Surgical Table
[0125] According to this embodiment, as described above, the method
for displaying the image of the patient P placed on the surgical
table 5 includes imaging the patient P placed on the surgical table
5 by the imaging device 51 provided on the arm base 50 to which the
plurality of arms 60 having the medical devices 4 respectively
attached thereto are attached, and displaying the patient P imaged
by the imaging device 51 on the display 33a in real time.
Accordingly, the operator (such as a nurse or a technician) can
move the medical cart 3 while checking the condition of the patient
P displayed on the display 33a.
Modified Examples
[0126] The embodiment disclosed this time must be considered as
illustrative in all points and not restrictive. The scope of the
present disclosure is not shown by the above description of the
embodiment but by the scope of claims for patent, and all
modifications (modified examples) within the meaning and scope
equivalent to the scope of claims for patent are further
included.
[0127] For example, while the three second trocars T2 are inserted
into the patient P in the aforementioned embodiment, the present
disclosure is not limited to this. The number of second trocars T2
may alternatively be two, for example.
[0128] While the first mark MK1 has a substantially circular shape
in the aforementioned embodiment, the present disclosure is not
limited to this. For example, the first mark MK1 may alternatively
have a quadrangular shape.
[0129] While the second mark MK2 has a cross shape in the
aforementioned embodiment, the present disclosure is not limited to
this. For example, the second mark MK2 may alternatively have a
single linear shape.
[0130] While the size of the first mark MK1 is larger than the size
of the first trocar T1 displayed on the display 33a in the
aforementioned embodiment, the present disclosure is not limited to
this. For example, the size of the first mark MK1 may alternatively
be the same as the size of the first trocar T1 displayed on the
display 33a, or the first mark MK1 may alternatively have a shape
(such as a point shape or a cross shape) smaller than the size of
the first trocar T1.
[0131] While the display of the first line L1 and the second line
L2 on the display 33a is fixed on the display 33a in the
aforementioned embodiment, the present disclosure is not limited to
this. For example, as in a display 133 according to a first
modified shown in FIG. 20, the display of a first line L11 and a
second line L12 on the display 133 may rotate with rotation of an
arm base 50, and the display of a patient P on the display 133 may
be corrected to be rotated in a direction opposite to rotation of
an arm base 50. That is, in the aforementioned embodiment, the
image of the patient P also rotates with rotation of the arm base
50. On the other hand, on the display 133, the image of the patient
P does not rotate even when the arm base 50 rotates. Thus, even
when the arm base 50 is rotated, the image of the patient P
displayed on the display 133 can be displayed in an orientation
corresponding to the orientation of the operator (such as a nurse
or a technician).
[0132] While the joystick 33b for operating the positioner 40 is
provided in the vicinity of the display 33a in the aforementioned
embodiment, the present disclosure is not limited to this. For
example, an operation unit (such as a cross key) other than the
joystick 33b may alternatively be provided in the vicinity of the
display 33a to operate the positioner 40.
[0133] While the throttles 35a for operating movement of the
medical cart 3 are provided in the vicinity of the display 33a in
the aforementioned embodiment, the present disclosure is not
limited to this. For example, an operation unit (such as a linear
switch) other than the throttles 35a may alternatively be provided
in the vicinity of the display 33a to operate movement of the
medical cart 3.
[0134] While the imaging device 51 images the region vertically
therebelow in the aforementioned embodiment, the present disclosure
is not limited to this. For example, as in an imaging device 151
according to a second modified example shown in FIG. 21, in the
initial stage of movement of a medical cart 3 (when the moving
speed is relatively fast), the imaging device 151 may image a
region obliquely forward with respect to a vertical direction, and
as the medical cart 3 approaches a patient P, an angle .theta. with
respect to the vertical direction may be gradually reduced. In this
case, the angle of the imaging device 151 with respect to an arm
base 50 may be variable, or the positioner 40 may be moved to
change the angle .theta. with respect to the vertical direction in
a direction (optical axis) in which the imaging device 151 is
pointed.
[0135] While the four arms 60 are provided in the aforementioned
embodiment, the present disclosure is not limited to this. The
number of arms 60 may alternatively be three.
[0136] While each of the arm portion 61 and the positioner 40
includes a 7-axis articulated robot in the aforementioned
embodiment, the present disclosure is not limited to this. For
example, each of the arms 60 and the positioner 40 may
alternatively include an articulated robot having an axis
configuration (six axes or eight axes, for example) other than the
7-axis articulated robot.
* * * * *